Baumgartner came down safely in the eastern New Mexico desert about nine minutes after jumping from his capsule 128,100 feet, or roughly 24 miles, above Earth. He lifted his arms in victory, sending off loud cheers from jubilant onlookers and friends inside the mission’s control center in Roswell, N.M.

Watch the video:

Watch the full 9 minutes video of Baumgartner’s jump, descent and landing here: